\documentclass{beamer}
\usepackage{beamerthemesplit,graphicx}
\usepackage{listings}
\usepackage{subfigure}
\usetheme{CambridgeUS}
\setbeamercovered{transparent}
\title{Turtlebot SLAM }
\author{Murtadha Alqurqush\\Cristian Calmuschi\\Andreas Hamacher\\Gergely Kosztolanyi\\Yannick Thimister}
\date{\today}
\renewcommand{\thefootnote}{}

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\begin{document}

\frame{
	\titlepage
}

\section[Outline]{}
\frame{
\frametitle{Outline}
\tableofcontents
}


\section{Introduction}
\frame{
\frametitle{Introduction}
\begin{itemize}
	\item SLAM estimates:
	\begin{itemize}
		\item Map of features
		\item path of the robot
	\end{itemize}
	\item Chicken-and-egg problem
	\item Graph-Based SLAM
\end{itemize}
}

%\subsection{Research Questions}
\frame{
\frametitle{Research Questions}
\setbeamercovered{transparent}
\begin{itemize}[<+->]
	\item \textbf{Phase 1:} How to create an efficient and accurate exploration algorithm for a mobile robot?
	\item \textbf{Phase 2:} How to create an as accurate as possible SLAM algorithm that can run in real-time?
	\item \textbf{Phase 3:} How to incorporate the algorithms in a real-world environment using a Turtlebot?
\end{itemize}
}

%%%%%%%%%%%%%%%Christian




%\subsection{Idea of Graph SLAM} %christian 3/3



%%%%%%%%%%%%%%%\end Christian

\section{Autonomous Exploration}

%\subsection{}
\frame{
\frametitle{Exploration}
\begin{itemize}
	\item What to explore
	\begin{itemize}
		\item Frontier Detection
		\item "Vantage point" detection
	\end{itemize}
\end{itemize}
}

\frame{
\begin{itemize}
	\item In which order
	\begin{itemize}
		\item Evaluation of vantage points
	\end{itemize}
\end{itemize}
}

\frame{

  	
\begin{columns} 
    \column[h]{.50\textwidth} 
    {
    \begin{itemize}
	\item Current state of the implementation
		\begin{itemize}
			\item Navigation
			\item Frontier \& vantage point detection
			\item Graph-SLAM
		\end{itemize}
	\end{itemize}
    }
    \column[h]{.50\textwidth} 
    \includegraphics[width=1\textwidth]{shot.png} 
  \end{columns}   	
  	
  	
}
%%%%%%%%christian

\section{SLAM} 
%\subsection{Idea of SLAM} %christian 1/3
\frame{
\frametitle{Idea of SLAM}
\begin{itemize}
	\item SLAM - Simulatneous Location and Mapping
	\item CMP - Concurrent Mapping and Localization
	\item Two main forms
	\begin{itemize}
		\item online
		\item global - full
	\end{itemize}
\end{itemize}
}

\subsection{About the main SLAM Techniques}  %christian 2/3
\frame{
\frametitle{About the main SLAM Techniques}
\begin{itemize}
	\item Fast SLAM
	\item EKF SLAM
	\item Graph SLAM
\end{itemize}
}

%\subsection{Idea of Graph SLAM} %christian 3/3
\frame{
\frametitle{Idea of Graph SLAM}
\begin{itemize}
	\item main idea
	\item map and path estimation (vs EKF)
\end{itemize}
}

%%%%%%%%christian

%\section{SLAM}  %christian 2/3
%\frame{
%\frametitle{Comparison of SLAM Techniques}
%\begin{itemize}
%	\item SLAM
%	\item EKF
%	\begin{itemize}
%	\item Gaussian based
%	\item applicable only for linear update functions
%	\item motion update and "velocity" is not linear
%	\end{itemize}
%	\item Fast Slam
%	\begin{itemize}
%	\item Particle based path estimation
%	\item EKF for map feature estimation
%	\item multiple data associations possible
%	\end{itemize}
%	\item Graph SLAM
%\end{itemize}
%}
%
%\frame{
%\frametitle{Idea of Graph SLAM}
%	\includegraphics[width=340pt]{graph.png}
%}
%\subsection{Graph SLAM}
\input{GraphSlam}

\section{Experiments}
\frame{
\frametitle{Experiments}
To be tested:
\begin{itemize}
	\item Speed
	\item Completeness 
	\item Correctness 
	\item compare against gmapping
\end{itemize}
}

\section{Conclusions}
\frame{
\frametitle{Conclusions}
\begin{itemize}
	\item Frontier detection working
	\item Selfmade navigation
	\item Mapping is implemented
	\item Localization requires debugging
\end{itemize}
}

\section{Future Work}
\frame{
\frametitle{Planning phase 3}
\includegraphics[width=340pt]{GANT3.png}
}

\section{Questions}
\frame{
\frametitle{Thanks and Questions?}
\begin{itemize}
	\item Thank you for your attention
	\item Questions?
\end{itemize}
}

\end{document}